In this paper, we propose a new control method based on fuzzy PID and linear support vector classifier (SVC) for previously developed mechanism that consists of a magnetorheological fluid (MRF) piston, a fly-wheel, and two springs. The integration of the three kinds of mechanism enables three different mechanical impedance (variable impedance mechanism: VIM): viscosity, inertia, and elasticity. PID control is proven a good control method for many actuators, however, specific characteristics in VIM such as strong nonlinearity have to be taken into consideration for better performance. Here, we propose a control strategy based on fuzzy PID and linear SVC method for the VIM. Experiments show that suitable operation mode for a given target value and desired operation characteristics can be achieved, also, performance of the VIM system is improved in terms of both accuracy and response time. The proposed control strategy is proven feasible.